管道机器人轮-爪式行走装置运动学和力学特性分析

Analysis of Kinematics and Mechanical Properties of Wheel-claw Walking Device of Pipeline Robot

目的研究一种排水管道清淤机器人的轮-爪式行走装置,以增强管道清淤机器人在管道内行进能力,提高负载能力和自适应管径能力.方法建立运动学模型,通过ADAMS运动学仿真,对轮爪式夹紧机构进行运动学研究;通过ADAMS动力学仿真分析,得到了爪式夹紧机构最大夹紧力;通过ANSYS workbench静力学仿真,分析卡爪夹紧机构强度、刚度等力学特性.结果运动学研究分析得到夹紧机构工作空间变化为421.1~500 mm,卡爪支腿的速度变化为0~23.35 mm/s、加速度变化为0~36.76 mm/s^2.通过动力学分析,得到机构工作夹紧力为1000 N.通过有限元分析得到机构产生的总变形变化为0~0.00125 m,等效应变变化为1.1423×10^-8~0.00145,等效应力变化为2010.1~2.95×10^-8 Pa.结论卡爪夹紧机构的工作范围满足要求;机构速度和加速度曲线平滑,运行稳定,无震颤现象;机构最大夹紧力能保证推进的需要;机构满足结构刚度、强度要求.

A wheel-claw type walking device of the sewer dredging robot is studied to enhance the traveling ability of the robot in the pipeline,and to improve its load capacity and self-adapting pipe diameter capability.The kinematics model was established,and the kinematics of the claw clamping mechanism was studied by ADAMS kinematics simulation.The maximum clamping force of the claw clamping mechanism was obtained by ADAMS dynamics simulation analysis.The ANSYS workbench static simulation was used to analyze Mechanical properties such as strength and stiffness of the jaw clamping mechanism.The kinematics analysis shows that the working range of the clamping mechanism is changed to 421.1~500 mm.The range of the speed of the claws is 0~23.35 mm/s.The range of acceleration is 0~36.76.Through the dynamic analysis,the maximum clamping of the mechanism is obtained.The force is 1000 N.Through the finite element analysis,the total deformation range of the mechanism is 0~0.00125 m and the equivalent strain range is 1.1423×10^-8~0.00145.The equivalent stress range is 2010.1~2.95×10^-8 Pa.The working range of the claw clamping mechanism meets the requirements;the speed and acceleration curves of the mechanism are smooth,stable and non-chattering;the maximum clamping force of the mechanism can ensure the need of propulsion;and the mechanism meets the requirements of structural stiffness and strength.